一种基于滑模自适应与干扰补偿的四旋翼飞行器控制方法
By employing a sliding mode adaptive and disturbance compensation control method, and utilizing a third-order nonlinear differential observer and adaptive law estimation, the steady-state accuracy problem of the quadrotor attitude control system was solved, achieving high-precision and fast attitude stabilization control.
CN115933372BActive Publication Date: 2026-07-17SHANGHAI JIAOTONG UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI JIAOTONG UNIV
- Filing Date
- 2022-12-15
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
The attitude control system of quadcopters has low steady-state accuracy, and conventional PID control design is difficult to effectively compensate for system disturbances caused by model uncertainties.
Method used
A sliding mode adaptive and disturbance compensation control method is adopted. The error signal is solved by a third-order nonlinear pitch and yaw differential observer, and adaptive law estimation and disturbance compensation are performed to form a sliding mode controller for the pitch and yaw channel, thereby achieving attitude stability control.
Benefits of technology
It improves the attitude control accuracy and system stability of quadcopters, reduces steady-state errors, and ensures the speed and smoothness of the control scheme.
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Figure CN115933372B_ABST
Abstract
本发明提供了一个通过安装角陀螺仪直接测量四旋翼飞行器的俯仰角与偏航角对其实现姿态稳定跟踪控制的方法；通过设计一类三阶非线性俯仰偏航微分观测器，求解俯仰角与偏航角误差的一阶以及二阶近似微分信号。然后对俯仰角与偏航角误差进行非线性变换以及叠加一阶二阶近似微分信号得到俯仰偏航非线性滑模信号，再采用自适应方法分别从常值干扰、角度误差干扰、一阶近似微分干扰三个角度进行总干扰补偿，最终形成俯仰与偏航通道的滑模补偿控制器，输送给四旋翼飞行器的舵系统进行分配，实现俯仰偏航通道对相应姿态指令信号进行稳定跟踪。
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